The goal of this paper is to develop a wheeled car inertial navigation system, which can realize the PC terminal and the handheld terminal to control the wheeled car action and the data collected by the car through wifi. Set up the system shown in Figure 1 below. TI's floating-point DSP TMS320F28335 ($16.0312) chip is used as the main digital signal processor to collect and process the signals of each MEMS inertial sensor. The processing result is transmitted to the PC terminal through WIFI; PC The terminal is responsible for displaying the positioning result and the map display, and sending a control command to the trolley driving system, and receiving the odometer information fed back by the driving system.
Figure 1 Overall architecture
Hardware design, mainly divided into core board and driver board. The core board includes DSP minimum system, JTAG download port design, system power supply circuit and MEMS sensor, WIFI module and so on. The main design of the driver board is the drive module of the DC motor.
Power circuit design
The TMS320F28335 requires different voltages during operation: the core voltage (1.9 V) and the I/O supply voltage (3.3 V), which are sensitive to the power supply, so the power supply is implemented using two output power devices TPS767D318 ($2.3625), as shown in Figure 2. Shown. At the same time, according to the simulation experiment and the actual welding circuit test, it is better to use some protective capacitors with a capacitance value of not less than 10uf, and the chip capacitor cannot be used, otherwise the operation is unstable.
Figure 2 DSP power supply design
In the power supply design, considering that the TPS767D318 chip can generate a reset signal, there is no additional reset circuit for the DSP on the core board.
JTAG download port circuit design
Figure 3 shows the JTAG circuit. Select the 14-pin emulation interface according to the emulator's communication pin. Also note that the EMU0 and EMU1 signals must be connected to the power supply through pull-up resistors, where the pull-up resistor is 10kΩ.
Figure 3 JTAG circuit design
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